CN109129496A - Milling robot - Google Patents
Milling robot Download PDFInfo
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- CN109129496A CN109129496A CN201710453571.4A CN201710453571A CN109129496A CN 109129496 A CN109129496 A CN 109129496A CN 201710453571 A CN201710453571 A CN 201710453571A CN 109129496 A CN109129496 A CN 109129496A
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- joint
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- robot
- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of milling robot, including bracket, tool drives mould group, milling tools, jig driving mould group and polishing jig.Tool drives mould group includes first to third robot assemblies.First and third robot assemblies be arranged on bracket.Second mechanical arm component is arranged between first and third robot assemblies.First rotates along respective axis respectively to third robot assemblies.Second mechanical arm component installs milling tools.Jig driving mould group includes linear motion component and rotary motion component, and linear motion component is arranged on bracket, and rotary motion component is arranged on linear motion component, and linear motion component and rotary motion component are respectively along respective axial-movement.Rotary motion component installation polishing jig.Milling robot flexibility ratio high rigidity of the invention is good.
Description
Technical field
The present invention relates to a kind of milling robot more particularly to a kind of milling robots of five-axle linkage.
Background technique
Nowadays, the labor cost of worker is high, mobility is big, leads to high production cost but yield is low.Current electronic product renewing changes
It is lower and lower for fast price, make a general survey of the grinding apparatus of existing mainstream, such as six axis milling robots or automation is dedicated beats
Equipment etc. is ground, all there is the defects of size is big, at high cost, payoff period is long.Specifically, the advantages of six axis milling robots are processed exists
In elastic big and have a wide range of application, disadvantage is that accuracy is low, occupied space is big and at high cost.Automate special grinding equipment
Advantage is with strong points, and production capacity yield is high, disadvantage be it is online it is slow, debugging is difficult, occupied space is big, recycling rate of waterused is low and at
This recycling is difficult.
Summary of the invention
In view of this, size is small it is necessary to provide a kind of milling robot, at low cost and flexibility is high, on solving
State problem.
The present invention provides a kind of milling robot, comprising: bracket, the bracket include the first support plate and be arranged described
The second support plate in first support plate；Tool drives mould group, the tool drives mould group include first mechanical arm component, second
Robot assemblies and third robot assemblies, the first mechanical arm component and third robot assemblies setting are described the
In two support plates, the second mechanical arm component is rotatably connected to the first mechanical arm component and third robot assemblies
Between, the first mechanical arm component is rotated along first axle, and the second mechanical arm component is rotated along second axis, and described the
Three-mechanical arm component is rotated along third axis；Milling tools, the milling tools are mounted on the second mechanical arm component；It controls
Tool driving mould group, the jig driving mould group includes linear motion component and rotary motion component, and the linear motion component is set
It sets in first support plate, the rotary motion component is arranged in the linear motion component, the linear motion component
It is moved in a straight line along four axistyle, the rotary motion component makes rotating motion along the 5th axis；And polishing jig, the polishing
Jig is mounted on the rotary motion component, and the polishing jig is for installing a workpiece to be polished；Wherein, the first axle
Line, second axis, third axis and four axistyle are parallel to each other, and the 5th axis is respectively perpendicular to the first axle,
Two axis, third axis and four axistyle.
After the mode that traditional axis is superimposed with axis is split as "+2 axis of 3 axis " by milling robot of the invention, phase is being used
With key part under the conditions of, provide more effectively outputs, using terminal load is bigger, structural rigidity is higher, the speed of service
Faster, compared with conventional bruting machine device people "+1 axis of 6 axis " volume-diminished, "+2 axis of 3 axis " can reach conventional bruting machine device people " 6 axis+1
The function of axis ", amount of parts are reduced, and the simple lightweight of structure and easy to process, at low cost and occupied area is small.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the milling robot in an embodiment of the present invention.
Fig. 2 is the disassemblying structure schematic diagram of the part spare part of the milling robot in Fig. 1.
Fig. 3 is the disassemblying structure schematic diagram of the milling tools of the milling robot in Fig. 2.
Fig. 4 is the disassemblying structure schematic diagram of the part spare part of the milling robot of Fig. 2.
Fig. 5 is cross-sectional view of the Fig. 2 on the direction V-V.
Fig. 6 is cross-sectional view of the Fig. 2 on the direction V-V.
Main element symbol description
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Below in conjunction with the attached drawing in embodiment of the present invention, the technical solution in embodiment of the present invention is carried out clear
Chu is fully described by, it is clear that described embodiment is only some embodiments of the invention, rather than whole implementation
Mode.Based on the embodiment in the present invention, those of ordinary skill in the art are obtained without making creative work
The all other embodiment obtained, shall fall within the protection scope of the present invention.
It should be noted that it can be directly to separately when a component is considered as " connection " another component
One component may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of body embodiment, it is not intended that the limitation present invention.Term " and or " used herein includes one or more related
Listed item any and all combinations.
Fig. 1 and Fig. 2 are please referred to, is the schematic perspective view of milling robot 100 in an embodiment of the present invention.It is described
Milling robot 100 includes bracket 10, tool drives mould group 30, milling tools 40, jig driving mould group 50 and polishing jig 60.
The bracket 10 includes the first support plate 11 and the second support plate 13.Second support plate 13 setting is described the
In one support plate 11.First support plate 11 and second support plate 13 are interconnected to form L bracket.The tool drives
Dynamic model group 30 is arranged in second support plate 13.Specifically, the setting of tool drives mould group 30 is in second support
On the one end of plate 13 far from first support plate 11.The milling tools 40 is mounted in the tool drives mould group 30.Institute
Jig driving mould group 50 is stated to be arranged in first support plate 11.Specifically, the jig driving mould group 50 is arranged described
On the one end of first support plate 11 far from second support plate 13.The polishing jig 60 is mounted on the jig driving mould group
On 50.The polishing jig 60 is to place and fix workpiece to be polished.The tool drives mould group 30 drives the polishing
Tool 40, and jig driving mould group 50 drives the polishing jig 60 to move, to complete to treat the polishing of polishing workpiece.
The tool drives mould group 30 is arm structure in parallel, has three degree of freedom, is specifically made of six joints,
It can guarantee higher rigidity and precision.Specifically, the tool drives mould group 30 includes first mechanical arm component 31, the second machine
Tool arm component 33 and third robot assemblies 35.One end of the first mechanical arm component 31 and the third robot assemblies 35
It is separately positioned in second support plate 13.The both ends of the second mechanical arm component 33 are rotatably connected to described respectively
On the other end of first mechanical arm component 31 and third robot assemblies 35.The first mechanical arm component 31 is along first axle
3151 rotations.The second mechanical arm component 33 is rotated along second axis 3331.The third robot assemblies 35 are along third axis
Line 3551 rotates.
Specifically, the first mechanical arm component 31 includes the first joint 311, second joint 313, the first actuator 315
With third joint 317.The one end of second support plate 13 far from first support plate 11 is arranged in first joint 311
Side on.One end of the second joint 313 is rotatably arranged on 311 inside of the first joint.Described first drives
The setting of moving part 315 is connect in 311 outside of the first joint and with the second joint 313.First actuator 315 drives
The second joint 313 is rotated around the first axle 3151 of the output shaft of first actuator 315.The third joint 317
One end be rotatably arranged on the other end of the second joint 313.The other end in the third joint 317 is rotationally
It is arranged on one end of the second mechanical arm component 33.
The second mechanical arm component 33 includes the 4th joint 331 and the second actuator 333.4th joint 331
One end is rotatably arranged on the other end in the third joint 317.The other end in the 4th joint 331 is rotationally set
It sets on the third robot assemblies 35.Second actuator 333 is arranged in the outside in the third joint 317, and with
4th joint 331 connection.Second actuator 333 drives the 4th joint 331 around second actuator 333
Output shaft second axis 3331 rotate.The milling tools 40 is mounted on the outside in the 4th joint 331, and with it is described
The connection of second actuator 333.
The third robot assemblies 35 include the 5th joint 351, the 6th joint 353 and third actuator 355.Described
The one end in five joints 351 and the other end in the 4th joint 331 are rotatably coupled.The other end in the 5th joint 351
It is rotatably arranged on the one end in the 6th joint 353.The other end in the 6th joint 353 is arranged at described second
On the other side of the one end of fagging 13 far from first support plate 11.The setting of third actuator 355 is closed the described 6th
The outside of section 353 is simultaneously connect with the 5th joint 351.The third actuator 355 drives the 5th joint 351 around described
The third axis 3551 of the output shaft of third actuator 355 rotates.
Wherein, the first axle 3151, second axis 3331 and third axis 3551 are parallel to each other but are not overlapped.In order to
Facilitate description, specific justice X-axis 200, Y-axis 300 and Z axis 400.Wherein, the X-axis 200 respectively the parallel first axle 3151,
Second axis 3331 and third axis 3551.The Y-axis 300 with the X-axis 200 in same level, but with the X-axis
200 is perpendicular.The Z axis 400 is respectively perpendicular the X-axis 200 and the Y-axis 300.The first mechanical arm component 31, second
The synthesis of the movement of robot assemblies 33 and third robot assemblies 35 is equivalent to conventional bruting machine device people in the Y-axis 300, Z
Axis 400 and three synthesis just moved upwards rotated around X-axis 200.
Please also refer to Fig. 3, the milling tools 40 includes tool holder 41 and at least two groups grinding head 43.The work
Having mounting base 41 has the first mounting surface 413 and at least two second mounting surfaces 411.At least two second mounting surface 411
At least two sides with first mounting surface 413 are interconnected to form prism-shaped respectively.The tool holder 41 passes through
First mounting surface 413 is arranged on the second mechanical arm component 33.At least two groups grinding head 43 is for installing sand
Paper is to polish to the workpiece.Specifically, in present embodiment, the tool holder 41 is in triangular prism column, tool
There are the first mounting surface 413 and three the second mounting surfaces 411.First mounting surface, 413 triangular shape.Three second peaces
Dress face 411 is interconnected to form triangular prism column with three sides of first mounting surface 413 respectively.The tool holder
41 are arranged in the outside in the 4th joint 331 by first mounting surface 413, and are connected with second actuator 333
It connects.At least two groups grinding head 43 includes three groups of grinding heads 43.Three groups of grinding heads 43 are separately mounted to described three
On two mounting surfaces 411.Mountable varigrained sand paper on three groups of grinding heads 43, so that workpiece rotates one in clamped one time
The a series of polishing of polishing workpiece is treated in completion during circle.
Please also refer to Fig. 4, there are two freedom degrees for jig driving mould group 50 tool, specifically include a linear axis and a rotation
Shaft.Specifically, jig driving mould group 50 include linear motion component 51, rotary motion component 53, jig mounting base 55,
Sextuple pressure inductor 56, protective shell 57 and two groups of track assemblies 59.The linear motion component 51 is arranged at described first
On fagging 11.The rotary motion component 53 is arranged on the linear motion component 51.The linear motion component 51 is along
Four axistyle 5157 moves in a straight line.The rotary motion component 53 makes rotating motion along the 5th axis 5357.
The linear motion component 51 includes sliding equipment 510, fourth drive member 511, first pulley mechanism 513 and screw rod
Transmission mechanism 515.The sliding equipment 510 is arranged in first support plate 11.The setting of first pulley mechanism 513 exists
On one end of the sliding equipment 510.The fourth drive member 511 is connect with the first pulley mechanism 513, and with the cunning
Motivation structure 510 is adjacent.The lead screw transmission mechanism 515 is arranged on the sliding equipment 510, and with the first pulley mechanism
513 connections.The fourth drive member 511 drives the first pulley mechanism 513, and then drives the lead screw transmission mechanism 515
It is for linear motion along the four axistyle 5157 in the sliding equipment 510.Wherein, the four axistyle 5157 and X
Axis 200 is parallel.
Specifically, please also refer to Fig. 5 and Fig. 6, the sliding equipment 510 includes sliding slot 5101 and is arranged in the sliding slot
The first sliding rail 5103 on 5101 bottom walls.The sliding slot 5101 is in U-shape shape along the section of Y-axis 300.The sliding slot 5101 has
Two the second sliding rails 5105.
The first pulley mechanism 513 is arranged on one end of the sliding slot 5101.The first pulley mechanism 513 includes
Fixed plate 5131, the first driving wheel 5133, the first driven wheel 5135, the first belt 5137 and protective cover 5139.The fixed plate
5131 are arranged in one end of the sliding slot 5101.The fourth drive member 511 is arranged in the fixed plate 5131 close to the cunning
The side of slot 5101, and be disposed adjacent with the sliding slot 5101.First driving wheel 5133 and the setting of the first driven wheel 5135
In side of the fixed plate 5131 far from the sliding slot 5101.First driving wheel 5133 is arranged in the fourth drive member
On 511 output shaft.The side of first driving wheel 5133 is arranged in first driven wheel 5135.First belt
5137 are wound around on first driven wheel 5135 and first driving wheel 5133.The protective cover 5139 be square it is hollow and
Shape open at one end.Side of the fixed plate 5131 far from the sliding slot 5101 is arranged in the protective cover 5139, and will be described
In first driving wheel 5133, the first driven wheel 5135 and the first belt 5137 are located at.
The lead screw transmission mechanism 515 is arranged in the sliding slot 5101.The lead screw transmission mechanism 515 specifically includes silk
Bar 5151, mounting blocks 5153 and screw rod link block 5155.The screw rod 5151 is connect with first driven wheel 5135.The silk
Bar link block 5155, which is threadedly coupled, to be arranged on the screw rod 5151.The substantially u-shaped plate-like of the mounting blocks 5153.The installation
Block 5153 is arranged on the screw rod link block 5155, and the two sides of the bottom of the mounting blocks 5153 are separately positioned on two the
On two sliding rails 5105.The screw rod 5151 is threadingly advanced along the direction parallel with the four axistyle 5157, described in driving
Mounting blocks 5153 move.
The rotary motion component 53 includes the first mounting plate 531, the 5th actuator 533, the second belt wheel mechanism 535 and the
Two mounting plates 537.First mounting plate 531 is in plane tabular.First mounting plate 531 is arranged in the mounting blocks 5153
On.Relief hole 5311 is set on first mounting plate 531.5th actuator 533 is arranged in first mounting plate 531
Lower section, and part in the relief hole 5311 from stretching out and be fixed on first mounting plate 531.Second belt wheel
The top of first mounting plate 531 is arranged in mechanism 535.Second belt wheel mechanism 535 includes the second driving wheel 5351, the
Two driven wheels 5353 and the second belt 5355.The output axis connection of second driving wheel 5351 and the 5th actuator 533,
And it is located on first mounting plate 531.On second driven wheel 5353 is arranged on first mounting plate 531.Institute
The second belt 5355 is stated to be set around on second driving wheel 5351 and second driven wheel 5353.Second mounting plate
537 are inverted U shape shape.Second mounting plate 537 is arranged on first mounting plate 531, and is located at second driven wheel
5353 top.5th actuator 533 drives second driving wheel 5351, and then drives second driven wheel 5353
The 5th axis 5357 around second driven wheel 5353 rotates.Wherein, the 5th axis 5357 and the first axle
3151, the second axis 3331, the third axis 3551 and the four axistyle 5157 are respectively perpendicular.
The setting of jig mounting base 55 is connect on second mounting plate 537, and with second driven wheel 5353.
The jig mounting base 55 is driven and rotated around the 5th axis 5357 by second driven wheel 5353.The jig peace
The inside of dress seat 55 is set as the hollow structure of umbrella, that is, facilitates threading water proof and dust proof again, tailored appearance, easy to use and peace
Entirely.
The 6 DOF pressure inductor 56 is arranged in the jig mounting base 55.The 6 DOF pressure inductor 56 can
The pressure in six dimensions is perceived, and is converted into corresponding electric signal, and the electric signal is transferred into corresponding controller
(not shown go out).The controller controls the tool drives mould group 30 according to the pressure of perception and the jig drives mould group 50
Corresponding adjustment is done, so as to the uniform force at each position for the workpiece being polished, prevents detail sanding excessively or polishes not
It is enough.
The protective shell 57 is inverted U shape shape.The top of second mounting plate 537 is arranged in the protective shell 57, and permits
Perhaps the part of the described jig mounting base 55 is therefrom stretched out.The protective shell 57 is located at the rotary motion component 53 and part institute
The top of linear motion component 51 is stated, so that the driving and transmission of the rotary motion component 53 and the linear motion component 51
Part is not exposed, and dust-proof and security protection can be played the role of.
Every group of track assembly 59 includes crawler belt 591 and tailgate 593.The one of the sliding slot 5101 is arranged in each tailgate 593
End.Each 591 one end of crawler belt supports on the side of the protective shell 57, and the other end supports on the corresponding tailgate 593,
Play the role of buffering, water proof and dust proof and security protection.
Wherein, in present embodiment, first actuator 315, the second actuator 333, third actuator the 355, the 4th
The motor and high-precision high rigidity speed reducer that degree of protection is IP67 is respectively adopted in actuator 511 and the 5th actuator 533.It is described
Screw rod 5151 is high precision ball screw rod.First sliding rail 5103 is high rigidity ball line slide rail.
The setting of polishing jig 60 is on the sextuple pressure inductor 56.The polishing jig 60 is for fixed wait beat
The workpiece of mill.The polishing jig 60 includes frame shape mounting base 61 and mounting plate 63.The frame shape mounting base 61 is mounted on described
On sextuple pressure inductor 56.The mounting plate 63 is arranged in the frame shape mounting base 61.The mounting plate 63 is for installing
Workpiece.
The tool drives mould group 30 drives the milling tools 40 to move, and the jig driving mould group 50 drives described beat
It grinds jig 60 to move, the polishing jig 60 and then drive workpiece motion s, and then completes polishing workpiece.It is understood that the polishing
Multiple grinding heads 43 of tool 40 can install different husky number sand paper, in the process of a circle rotation of the milling tools 40
In, the polishing to one position of workpiece can be completed.
After the mode that traditional axis is superimposed with axis is split as "+2 axis of 3 axis " by milling robot 100 of the invention, using
Under the conditions of identical key part, more effectively outputs are provided, using terminal load is bigger, structural rigidity is higher, operation is fast
Degree faster, compared with conventional bruting machine device people "+1 axis of 6 axis " volume-diminished, "+2 axis of 3 axis " can reach conventional bruting machine device people " 6 axis+
The function of 1 axis ", amount of parts are reduced, and the simple lightweight of structure and easy to process, at low cost and occupied area is small.
It is understood that in other embodiments, the bracket 10 is not limited to L shape, it can also be inverted T-shaped, cross
Deng can specifically be arranged according to actual needs.The tool drives mould group 30 and jig driving mould group 50 do not limit setting position
It sets, the processing completed to workpiece as long as the position of the two can cooperate.
It is understood that in other embodiments, the bracket 10 can also be integrally formed.
It is understood that in other embodiments, the fourth drive member 511 may be provided at the fixed plate 5131 far from institute
State the side of sliding slot 5101.First driving wheel 5133 and the first driven wheel 5135 can be set in the fixed plate 5131 close to institute
The side of sliding slot 5101 is stated, or is all disposed within the side of the fixed plate 5131.
It is understood that in other embodiments, the sliding equipment 510 can omit, the first pulley mechanism 513 and silk
Bar transmission mechanism 515 can be set up directly in first support plate 11.
It is understood that in other embodiments, the protective cover 5139 can omit.
It is understood that in other embodiments, the jig mounting base 55 and the sextuple pressure inductor 56 can omit,
The polishing jig 60 can be directly mounted on second driven wheel 5353.
It is understood that in other embodiments, the track assembly 59 can omit.
It is understood that in other embodiments, second mounting plate 537 can omit, the jig mounting base 55 is directly
It is arranged on the second driven wheel 5353 of second belt wheel mechanism 535.
It is understood that in other embodiments, the protective shell 57 can omit.
It is understood that in other embodiments, the protective shell 57 is not limited to inverted u-shaped, it specifically can be according to practical need
It is arranged.
Those skilled in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as being made within spirit of the invention to embodiment of above
It is appropriate change and variation all fall within the scope of protection of present invention.
Claims (13)
1. a kind of milling robot, comprising:
Bracket, the bracket include the first support plate and the second support plate for being arranged in first support plate；
Tool drives mould group, the tool drives mould group include that first mechanical arm component, second mechanical arm component and third are mechanical
Arm component, the first mechanical arm component and the third robot assemblies are arranged in second support plate, and described second
Robot assemblies are rotatably connected between the first mechanical arm component and third robot assemblies, the first mechanical arm
Component is rotated along first axle, and the second mechanical arm component is rotated along second axis, and the third robot assemblies are along third
Axis rotation；
Milling tools, the milling tools are mounted on the second mechanical arm component；
Jig drives mould group, and the jig driving mould group includes linear motion component and rotary motion component, the linear motion
Component is arranged in first support plate, and the rotary motion component setting is in the linear motion component, the straight line fortune
Dynamic component is moved in a straight line along four axistyle, and the rotary motion component makes rotating motion along the 5th axis；And
Polishing jig, the polishing jig are mounted on the rotary motion component, and the polishing jig is for installing one wait polish
Workpiece；
Wherein, the first axle, second axis, third axis and four axistyle are parallel to each other, and the 5th axis hangs down respectively
Directly in the first axle, second axis, third axis and four axistyle.
2. milling robot as described in claim 1, it is characterised in that: the milling tools includes tool holder and at least
Two groups of grinding heads, the tool holder have the first mounting surface and at least two second mounting surfaces, described at least two second
Mounting surface is interconnected to form prism-shaped at least two sides of first mounting surface respectively, and the tool holder passes through
The first mounting surface setting is in the second mechanical arm component, and at least two groups grinding head is for installing sand paper to described
Workpiece is polished.
3. milling robot as described in claim 1, it is characterised in that: the first mechanical arm component include the first joint,
Second joint, the first actuator and third joint, first joint are arranged in second support plate, the second joint
One end be rotatably arranged on first joint, the outside in first joint is arranged in first actuator, and
And connect with the second joint, first actuator drives the second joint to rotate around the first axle, and described the
The one end in three joints is rotatably arranged on the other end of the second joint, and the other end in the third joint is rotationally
It is arranged on one end of the second mechanical arm component.
4. milling robot as claimed in claim 3, it is characterised in that: the second mechanical arm component include the 4th joint and
One end of second actuator, the 4th joint is rotatably arranged on the other end in the third joint, and the other end can turn
It is arranged on the third robot assemblies dynamicly, second actuator is arranged in the outside in the third joint, and with
The 4th joint connection, second actuator drive the 4th joint to rotate around the second axis, the polishing
Tool is mounted on the outside in the 4th joint, and connect with second actuator.
5. milling robot as claimed in claim 4, it is characterised in that: the third robot assemblies include the 5th joint,
The other end of 6th joint and third actuator, the one end and the 4th joint in the 5th joint is rotatably coupled, institute
The other end for stating the 5th joint is rotatably arranged on the one end in the 6th joint, the other end setting in the 6th joint
On the other side of the one end of second support plate far from first support plate, third actuator setting is described the
The outside in six joints, and the 5th joint connects, and the third actuator drives the 5th joint to drive around the third
The third axis of moving part rotates.
6. such as milling robot described in any one of claim 1 to 5, it is characterised in that: the linear motion component includes the
Four actuators, first pulley mechanism and lead screw transmission mechanism, the first pulley mechanism are arranged in first support plate, institute
It states fourth drive member to connect with the first pulley mechanism, the first pulley mechanism is connect with the lead screw transmission mechanism, institute
It states fourth drive member and drives the first pulley mechanism, and then the lead screw transmission mechanism is driven to do directly along the four axistyle
Line movement.
7. milling robot as claimed in claim 6, it is characterised in that: the first pulley mechanism includes fixed plate, first
One end of first support plate, the 4th driving is arranged in driving wheel, the first driven wheel and the first belt, the fixed plate
The fixed plate is arranged on the side of first support plate in part, and first driving wheel and the setting of the first driven wheel exist
The other side of the fixed plate, first driving wheel are connect with the fourth drive member, and first driven wheel is arranged in institute
The side of the first driving wheel is stated, first belt is wound around on first driven wheel and first driving wheel, and described
One driven wheel is connect with the lead screw transmission mechanism.
8. milling robot as claimed in claim 7, it is characterised in that: the lead screw transmission mechanism is arranged at described first
On fagging, the lead screw transmission mechanism includes screw rod, mounting blocks and screw rod link block, and the screw rod and first driven wheel connect
It connects, the screw rod link block, which is threadedly coupled, to be arranged on the screw rod, and the mounting blocks are arranged on the screw rod link block, institute
Screw rod is stated to be threadingly advanced along the direction parallel with the four axistyle, to drive the mounting blocks to move in a straight line, the peace
Dress block is connect with the rotary motion component.
9. milling robot as claimed in claim 8, it is characterised in that: the linear motion component further includes sliding equipment,
The sliding equipment includes sliding slot and the first sliding rail for being arranged on the sliding slot bottom wall, and the lead screw transmission mechanism is arranged in institute
It states in sliding slot, the mounting blocks are arranged on first sliding rail.
10. milling robot as claimed in claim 8, it is characterised in that: the rotary motion component include the first mounting plate,
5th actuator and the second belt wheel mechanism, first mounting plate are arranged on the mounting blocks, the 5th actuator setting
In the lower section of first mounting plate, second belt wheel mechanism is arranged in the top of first mounting plate, and with described
The connection of five actuators, the polishing jig are mounted in second belt wheel mechanism.
11. milling robot as claimed in claim 10, it is characterised in that: second belt wheel mechanism includes the second active
Wheel, the second driven wheel and the second belt, the output axis connection of second driving wheel and the 5th actuator, and it is located at institute
It states on the first mounting plate, second driven wheel is arranged on first mounting plate, and second belt is set around described the
On two driving wheels and second driven wheel, the polishing jig is mounted on second driven wheel.
12. milling robot as claimed in claim 11, it is characterised in that: the rotary motion component further includes the second installation
Plate, second mounting plate, which is ridden, to be located on first mounting plate, and second mounting plate is located at the upper of second driven wheel
Side, the polishing jig is mounted on second mounting plate, and second driven wheel is connect with the polishing jig.
13. milling robot as claimed in claim 12, it is characterised in that: the jig driving mould group further includes jig installation
Seat and sextuple pressure inductor, the jig mounting base are arranged on second mounting plate, and connect with second driven wheel
It connects, the 6 DOF pressure inductor is mounted in the jig mounting base, and the polishing jig is mounted on the sextuple feeling of stress
It answers on device, the 6 DOF pressure inductor can perceive the pressure being applied on the polishing jig.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710453571.4A CN109129496A (en) | 2017-06-15 | 2017-06-15 | Milling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710453571.4A CN109129496A (en) | 2017-06-15 | 2017-06-15 | Milling robot |
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| Publication Number | Publication Date |
|---|---|
| CN109129496A true CN109129496A (en) | 2019-01-04 |
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ID=64830126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710453571.4A Pending CN109129496A (en) | 2017-06-15 | 2017-06-15 | Milling robot |
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| CN (1) | CN109129496A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355644A (en) * | 2019-05-17 | 2019-10-22 | 沧州隆利辉电子科技有限公司 | A kind of sheet metal component grinding device |
| CN111203791A (en) * | 2020-01-10 | 2020-05-29 | 赖太忠 | Five-axis linkage polishing machine based on targeted control high-stability transmission |
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